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<a href="#pub-types">Public 类型</a> &#124;
<a href="#pub-methods">Public 成员函数</a> &#124;
<a href="#pro-methods">Protected 成员函数</a> &#124;
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<div class="title">pcl::registration::GraphHandler&lt; GraphT &gt; 模板类 参考</div>  </div>
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<p><b><a class="el" href="classpcl_1_1registration_1_1_graph_handler.html" title="GraphHandler class is a wrapper for a general SLAM graph The actual graph class must fulfil the follo...">GraphHandler</a></b> class is a wrapper for a general SLAM graph The actual graph class must fulfil the following boost::graph concepts:  
 <a href="classpcl_1_1registration_1_1_graph_handler.html#details">更多...</a></p>

<p><code>#include &lt;<a class="el" href="graph__handler_8h_source.html">graph_handler.h</a>&gt;</code></p>
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Public 类型</h2></td></tr>
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typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1registration_1_1_graph_handler.html">GraphHandler</a>&lt; GraphT &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
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typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1registration_1_1_graph_handler.html">GraphHandler</a>&lt; GraphT &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b></td></tr>
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typedef boost::shared_ptr&lt; GraphT &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>GraphPtr</b></td></tr>
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typedef boost::shared_ptr&lt; const GraphT &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>GraphConstPtr</b></td></tr>
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typedef boost::graph_traits&lt; GraphT &gt;::vertex_descriptor&#160;</td><td class="memItemRight" valign="bottom"><b>Vertex</b></td></tr>
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typedef boost::graph_traits&lt; GraphT &gt;::edge_descriptor&#160;</td><td class="memItemRight" valign="bottom"><b>Edge</b></td></tr>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public 成员函数</h2></td></tr>
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&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_graph_handler.html#ab3b2ae3e354a594cfcb2c1e75b11f939">GraphHandler</a> ()</td></tr>
<tr class="memdesc:ab3b2ae3e354a594cfcb2c1e75b11f939"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty constructor. <br /></td></tr>
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&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_graph_handler.html#a978b6d939b4e857b9778a8ee655d8739">~GraphHandler</a> ()</td></tr>
<tr class="memdesc:a978b6d939b4e857b9778a8ee655d8739"><td class="mdescLeft">&#160;</td><td class="mdescRight">Destructor. <br /></td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_graph_handler.html#af3c9ba25942f235ab9f374cbd09270cf">clear</a> ()</td></tr>
<tr class="memdesc:af3c9ba25942f235ab9f374cbd09270cf"><td class="mdescLeft">&#160;</td><td class="mdescRight">Clear the graph <br /></td></tr>
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<tr class="memitem:a1ee6b45fee6568efd74864837c37f7d8"><td class="memItemLeft" align="right" valign="top"><a id="a1ee6b45fee6568efd74864837c37f7d8"></a>
GraphConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_graph_handler.html#a1ee6b45fee6568efd74864837c37f7d8">getGraph</a> () const</td></tr>
<tr class="memdesc:a1ee6b45fee6568efd74864837c37f7d8"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the BGL graph <br /></td></tr>
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<tr class="memitem:a637e0f79a7c93ac05223995e327c9984"><td class="memItemLeft" align="right" valign="top"><a id="a637e0f79a7c93ac05223995e327c9984"></a>
GraphPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_graph_handler.html#a637e0f79a7c93ac05223995e327c9984">getGraph</a> ()</td></tr>
<tr class="memdesc:a637e0f79a7c93ac05223995e327c9984"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the BGL graph <br /></td></tr>
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<tr class="memitem:a3763c879113bc92b4b36de28fb0bf646"><td class="memTemplParams" colspan="2">template&lt;class PointT &gt; </td></tr>
<tr class="memitem:a3763c879113bc92b4b36de28fb0bf646"><td class="memTemplItemLeft" align="right" valign="top">Vertex&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_graph_handler.html#a3763c879113bc92b4b36de28fb0bf646">addPointCloud</a> (const typename <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::ConstPtr &amp;cloud, const Eigen::Matrix4f &amp;pose)</td></tr>
<tr class="memdesc:a3763c879113bc92b4b36de28fb0bf646"><td class="mdescLeft">&#160;</td><td class="mdescRight">Add a new point cloud to the graph and return the new vertex  <a href="classpcl_1_1registration_1_1_graph_handler.html#a3763c879113bc92b4b36de28fb0bf646">更多...</a><br /></td></tr>
<tr class="separator:a3763c879113bc92b4b36de28fb0bf646"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a05619712d71306066ac009a5ba56fa0b"><td class="memTemplParams" colspan="2">template&lt;class EstimateT &gt; </td></tr>
<tr class="memitem:a05619712d71306066ac009a5ba56fa0b"><td class="memTemplItemLeft" align="right" valign="top">Vertex&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_graph_handler.html#a05619712d71306066ac009a5ba56fa0b">addGenericVertex</a> (const EstimateT &amp;estimate)</td></tr>
<tr class="memdesc:a05619712d71306066ac009a5ba56fa0b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Add a new generic vertex created according to the given estimate  <a href="classpcl_1_1registration_1_1_graph_handler.html#a05619712d71306066ac009a5ba56fa0b">更多...</a><br /></td></tr>
<tr class="separator:a05619712d71306066ac009a5ba56fa0b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:abce0aa4ae0403c9bcb17332c00fec890"><td class="memTemplParams" colspan="2">template&lt;class InformationT &gt; </td></tr>
<tr class="memitem:abce0aa4ae0403c9bcb17332c00fec890"><td class="memTemplItemLeft" align="right" valign="top">Edge&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_graph_handler.html#abce0aa4ae0403c9bcb17332c00fec890">addPoseConstraint</a> (const Vertex &amp;v_start, const Vertex &amp;v_end, const Eigen::Matrix4f &amp;relative_transformation, const InformationT &amp;information_matrix)</td></tr>
<tr class="memdesc:abce0aa4ae0403c9bcb17332c00fec890"><td class="mdescLeft">&#160;</td><td class="mdescRight">Add a new constraint between two poses  <a href="classpcl_1_1registration_1_1_graph_handler.html#abce0aa4ae0403c9bcb17332c00fec890">更多...</a><br /></td></tr>
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<tr class="memitem:acee57bf0baf26399ebced7c6c0838ae8"><td class="memTemplParams" colspan="2">template&lt;class MeasurementT &gt; </td></tr>
<tr class="memitem:acee57bf0baf26399ebced7c6c0838ae8"><td class="memTemplItemLeft" align="right" valign="top">Edge&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_graph_handler.html#acee57bf0baf26399ebced7c6c0838ae8">addGenericConstraint</a> (const MeasurementT &amp;measurement)</td></tr>
<tr class="memdesc:acee57bf0baf26399ebced7c6c0838ae8"><td class="mdescLeft">&#160;</td><td class="mdescRight">Add a generic constraint created according to the given measurement  <a href="classpcl_1_1registration_1_1_graph_handler.html#acee57bf0baf26399ebced7c6c0838ae8">更多...</a><br /></td></tr>
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<tr class="memitem:a64e9cc61cac073e473ed9042ab212d1b"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_graph_handler.html#a64e9cc61cac073e473ed9042ab212d1b">removeVertex</a> (const Vertex &amp;v)</td></tr>
<tr class="memdesc:a64e9cc61cac073e473ed9042ab212d1b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Remove a vertex from the graph  <a href="classpcl_1_1registration_1_1_graph_handler.html#a64e9cc61cac073e473ed9042ab212d1b">更多...</a><br /></td></tr>
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<tr class="memitem:ae96f335ff5fc1e9bfea3ffd7d869fe19"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_graph_handler.html#ae96f335ff5fc1e9bfea3ffd7d869fe19">removeConstraint</a> (const Edge &amp;e)</td></tr>
<tr class="memdesc:ae96f335ff5fc1e9bfea3ffd7d869fe19"><td class="mdescLeft">&#160;</td><td class="mdescRight">Remove a constraint from the graph  <a href="classpcl_1_1registration_1_1_graph_handler.html#ae96f335ff5fc1e9bfea3ffd7d869fe19">更多...</a><br /></td></tr>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-methods"></a>
Protected 成员函数</h2></td></tr>
<tr class="memitem:a24b7e511e93c1be0b9046c4286842ea6"><td class="memItemLeft" align="right" valign="top"><a id="a24b7e511e93c1be0b9046c4286842ea6"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_graph_handler.html#a24b7e511e93c1be0b9046c4286842ea6">init</a> ()</td></tr>
<tr class="memdesc:a24b7e511e93c1be0b9046c4286842ea6"><td class="mdescLeft">&#160;</td><td class="mdescRight">This method is called right after the creation of graph_impl_ <br /></td></tr>
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<tr class="memitem:a28eb2f86777f9f505b8711b584547cb4"><td class="memItemLeft" align="right" valign="top"><a id="a28eb2f86777f9f505b8711b584547cb4"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_graph_handler.html#a28eb2f86777f9f505b8711b584547cb4">deinit</a> ()</td></tr>
<tr class="memdesc:a28eb2f86777f9f505b8711b584547cb4"><td class="mdescLeft">&#160;</td><td class="mdescRight">This method is called when graph_impl_ is going to be destroyed <br /></td></tr>
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Private 属性</h2></td></tr>
<tr class="memitem:ab4e3bf6f44fc1faa33bdf7514fa7a95d"><td class="memItemLeft" align="right" valign="top"><a id="ab4e3bf6f44fc1faa33bdf7514fa7a95d"></a>
GraphPtr&#160;</td><td class="memItemRight" valign="bottom"><b>graph_impl_</b></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><h3>template&lt;typename GraphT&gt;<br />
class pcl::registration::GraphHandler&lt; GraphT &gt;</h3>

<p><b><a class="el" href="classpcl_1_1registration_1_1_graph_handler.html" title="GraphHandler class is a wrapper for a general SLAM graph The actual graph class must fulfil the follo...">GraphHandler</a></b> class is a wrapper for a general SLAM graph The actual graph class must fulfil the following boost::graph concepts: </p>
<ul>
<li>BidirectionalGraph</li>
<li>AdjacencyGraph</li>
<li>VertexAndEdgeListGraph</li>
<li>MutableGraph</li>
</ul>
<p>Other valid expressions:</p><ul>
<li>add_edge (m,g) add a new edge according to the given measurement. Return type: std::pair&lt;edge_descriptor, bool&gt;</li>
<li>add_vertex (e,g) add a new vertex according to the given estimate. Return type: vertex_descriptor</li>
<li>get_pose (v,g) retrieve the pose estimate for v, if any. Return type: Eigen::Matrix4f</li>
<li>get_cloud (v,g) retrieve the cloud pointer associated to v, if any. Return type: pcl::PointCloud&lt;PointT&gt;::ConstPtr</li>
<li>set_estimate (v,e,g) set the estimate for an existing vertex. Return type: void.</li>
<li>set_measurement (d,m,g) set the measurement for an existing edge. Return type: void. Notation:</li>
<li>m an edge measurement</li>
<li>e a vertex estimate</li>
<li>v a vertex</li>
<li>d an edge</li>
<li>g a graph A valid graph implementation should accept at least the <a class="el" href="structpcl_1_1registration_1_1_pose_estimate.html" title="PoseEstimate struct">PoseEstimate</a> estimate and the <a class="el" href="structpcl_1_1registration_1_1_pose_measurement.html" title="PoseMeasurement struct">PoseMeasurement</a> measurement</li>
</ul>
<p>If a specific graph implementation needs initialization and/or finalization, specialize the protected methods <a class="el" href="classpcl_1_1registration_1_1_graph_handler.html#a24b7e511e93c1be0b9046c4286842ea6" title="This method is called right after the creation of graph_impl_">init()</a> and <a class="el" href="classpcl_1_1registration_1_1_graph_handler.html#a28eb2f86777f9f505b8711b584547cb4" title="This method is called when graph_impl_ is going to be destroyed">deinit()</a> for your graph type</p>
<dl class="section author"><dt>作者</dt><dd>Nicola Fioraio </dd></dl>
</div><h2 class="groupheader">成员函数说明</h2>
<a id="acee57bf0baf26399ebced7c6c0838ae8"></a>
<h2 class="memtitle"><span class="permalink"><a href="#acee57bf0baf26399ebced7c6c0838ae8">&#9670;&nbsp;</a></span>addGenericConstraint()</h2>

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<div class="memtemplate">
template&lt;typename GraphT &gt; </div>
<div class="memtemplate">
template&lt;class MeasurementT &gt; </div>
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          <td class="memname">Edge <a class="el" href="classpcl_1_1registration_1_1_graph_handler.html">pcl::registration::GraphHandler</a>&lt; GraphT &gt;::addGenericConstraint </td>
          <td>(</td>
          <td class="paramtype">const MeasurementT &amp;&#160;</td>
          <td class="paramname"><em>measurement</em></td><td>)</td>
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<p>Add a generic constraint created according to the given measurement </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">measurement</td><td>the measurement </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>a reference to the new edge </dd></dl>
<div class="fragment"><div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;        {</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;          <span class="keywordflow">return</span> add_edge (measurement, *graph_impl_);</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;        }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a05619712d71306066ac009a5ba56fa0b">&#9670;&nbsp;</a></span>addGenericVertex()</h2>

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template&lt;typename GraphT &gt; </div>
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template&lt;class EstimateT &gt; </div>
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          <td class="memname">Vertex <a class="el" href="classpcl_1_1registration_1_1_graph_handler.html">pcl::registration::GraphHandler</a>&lt; GraphT &gt;::addGenericVertex </td>
          <td>(</td>
          <td class="paramtype">const EstimateT &amp;&#160;</td>
          <td class="paramname"><em>estimate</em></td><td>)</td>
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<p>Add a new generic vertex created according to the given estimate </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">estimate</td><td>the parameters' estimate </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>a reference to the new vertex </dd></dl>
<div class="fragment"><div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;        {</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;          <span class="keywordflow">return</span> add_vertex (estimate, *graph_impl_);</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;        }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a3763c879113bc92b4b36de28fb0bf646">&#9670;&nbsp;</a></span>addPointCloud()</h2>

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template&lt;typename GraphT &gt; </div>
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template&lt;class PointT &gt; </div>
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          <td class="memname">Vertex <a class="el" href="classpcl_1_1registration_1_1_graph_handler.html">pcl::registration::GraphHandler</a>&lt; GraphT &gt;::addPointCloud </td>
          <td>(</td>
          <td class="paramtype">const typename <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::ConstPtr &amp;&#160;</td>
          <td class="paramname"><em>cloud</em>, </td>
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          <td class="paramname"><em>pose</em>&#160;</td>
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<p>Add a new point cloud to the graph and return the new vertex </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">cloud</td><td>the new point cloud </td></tr>
    <tr><td class="paramname">pose</td><td>the pose estimate </td></tr>
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  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>a reference to the new vertex </dd></dl>
<div class="fragment"><div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;        {</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;          <span class="keywordflow">return</span> add_vertex (PoseEstimate&lt;PointT&gt; (cloud, pose), *graph_impl_);</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;        }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#abce0aa4ae0403c9bcb17332c00fec890">&#9670;&nbsp;</a></span>addPoseConstraint()</h2>

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template&lt;typename GraphT &gt; </div>
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template&lt;class InformationT &gt; </div>
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          <td class="memname">Edge <a class="el" href="classpcl_1_1registration_1_1_graph_handler.html">pcl::registration::GraphHandler</a>&lt; GraphT &gt;::addPoseConstraint </td>
          <td>(</td>
          <td class="paramtype">const Vertex &amp;&#160;</td>
          <td class="paramname"><em>v_start</em>, </td>
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          <td class="paramtype">const Vertex &amp;&#160;</td>
          <td class="paramname"><em>v_end</em>, </td>
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          <td class="paramtype">const Eigen::Matrix4f &amp;&#160;</td>
          <td class="paramname"><em>relative_transformation</em>, </td>
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          <td class="paramtype">const InformationT &amp;&#160;</td>
          <td class="paramname"><em>information_matrix</em>&#160;</td>
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<p>Add a new constraint between two poses </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">v_start</td><td>the first pose </td></tr>
    <tr><td class="paramname">v_end</td><td>the second pose </td></tr>
    <tr><td class="paramname">relative_transformation</td><td>the transformation from v_start to v_end </td></tr>
    <tr><td class="paramname">information_matrix</td><td>the uncertainty </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>a reference to the new edge </dd></dl>
<div class="fragment"><div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;        {</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;          <span class="keywordflow">return</span> add_edge ( PoseMeasurement&lt;Vertex, InformationT&gt; (v_start, v_end, relative_transformation, information_matrix),</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;                            *graph_impl_);</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;        }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#ae96f335ff5fc1e9bfea3ffd7d869fe19">&#9670;&nbsp;</a></span>removeConstraint()</h2>

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<div class="memproto">
<div class="memtemplate">
template&lt;typename GraphT &gt; </div>
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          <td class="memname">void <a class="el" href="classpcl_1_1registration_1_1_graph_handler.html">pcl::registration::GraphHandler</a>&lt; GraphT &gt;::removeConstraint </td>
          <td>(</td>
          <td class="paramtype">const Edge &amp;&#160;</td>
          <td class="paramname"><em>e</em></td><td>)</td>
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<p>Remove a constraint from the graph </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">e</td><td>the edge </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;        {</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;          remove_edge(e.e_, *graph_impl_);</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;        }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a64e9cc61cac073e473ed9042ab212d1b">&#9670;&nbsp;</a></span>removeVertex()</h2>

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template&lt;typename GraphT &gt; </div>
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          <td class="memname">void <a class="el" href="classpcl_1_1registration_1_1_graph_handler.html">pcl::registration::GraphHandler</a>&lt; GraphT &gt;::removeVertex </td>
          <td>(</td>
          <td class="paramtype">const Vertex &amp;&#160;</td>
          <td class="paramname"><em>v</em></td><td>)</td>
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<p>Remove a vertex from the graph </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">v</td><td>the vertex </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;        {</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;          remove_vertex (v.v_, *graph_impl_);</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;        }</div>
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<hr/>该类的文档由以下文件生成:<ul>
<li>registration/include/pcl/registration/<a class="el" href="graph__handler_8h_source.html">graph_handler.h</a></li>
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